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* Author: TKruse
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#ifndef TRAJECTORY_SAMPLE_GENERATOR_H_
#define TRAJECTORY_SAMPLE_GENERATOR_H_

#include <base_local_planner/trajectory.h>

namespace base_local_planner
{

/**
* @class TrajectorySampleGenerator
* @brief Provides an interface for navigation trajectory generators
*/
class TrajectorySampleGenerator
{
public:

    /** 这个产生器是否可以生成多个路径
     * Whether this generator can create more trajectories
     */
    virtual bool hasMoreTrajectories() = 0;

    /** 这个产生器是否可以生产多个路径
     * Whether this generator can create more trajectories
     */
    virtual bool nextTrajectory(Trajectory &traj) = 0;

    /** 接口的虚析构函数
     * @brief  Virtual destructor for the interface
     */
    virtual ~TrajectorySampleGenerator() {}

protected:
    TrajectorySampleGenerator() {}

};

} // end namespace

#endif /* TRAJECTORY_SAMPLE_GENERATOR_H_ */
